include "map_builder.lua"
include "trajectory_builder.lua"

options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "base_footprint", 	-- "imu_link",gyro_link
    published_frame = "odom", 	-- "odom",
    odom_frame = "odom", 		-- "odom",
    provide_odom_frame = false,
    publish_frame_projected_to_2d = true,
    use_odometry = true,
    use_nav_sat = false,
    use_landmarks = false,
    num_laser_scans = 1,
    num_multi_echo_laser_scans = 0,
    num_subdivisions_per_laser_scan = 1,
    num_point_clouds = 0,
    lookup_transform_timeout_sec = 0.5,
    submap_publish_period_sec = 0.3,
    pose_publish_period_sec = 5e-3,
    trajectory_publish_period_sec = 30e-3,
    rangefinder_sampling_ratio = 1.0,
    odometry_sampling_ratio = 1.0,
    fixed_frame_pose_sampling_ratio = 1.,
    imu_sampling_ratio = 1.,
    landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.15
TRAJECTORY_BUILDER_2D.max_range = 5.0
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.1
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1e2
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1e2
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 20
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.05
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 60
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
MAP_BUILDER.num_background_threads = 4

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
POSE_GRAPH.global_sampling_ratio = 0.001
POSE_GRAPH.constraint_builder.sampling_ratio = 0.1
POSE_GRAPH.optimize_every_n_nodes = 50

POSE_GRAPH.constraint_builder.loop_closure_translation_weight = 1.1e4
POSE_GRAPH.constraint_builder.loop_closure_rotation_weight = 1e5
POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 7.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(30.)
POSE_GRAPH.constraint_builder.ceres_scan_matcher.occupied_space_weight = 20.
POSE_GRAPH.constraint_builder.ceres_scan_matcher.translation_weight = 10.
POSE_GRAPH.constraint_builder.ceres_scan_matcher.rotation_weight = 1.

POSE_GRAPH.optimization_problem.huber_scale = 1e1
POSE_GRAPH.optimization_problem.acceleration_weight = 1e3
POSE_GRAPH.optimization_problem.rotation_weight = 3e5
POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e5

POSE_GRAPH.optimize_every_n_nodes = 90
POSE_GRAPH.global_sampling_ratio = 0.003
POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
POSE_GRAPH.global_constraint_search_after_n_seconds = 10.

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 90
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability = 0.55
TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability = 0.49

return options
